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/**
* Copyright (c) FIRST 2008-2012. All Rights Reserved.
* Open Source Software - may be modified and shared by FRC teams. The code
* must be accompanied by the FIRST BSD license file in the root directory of
* the project.
*
* Copyright (c) 2011-2012, 2015-2016 Luke Shumaker
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the FIRST nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
package org.usfirst.frc.team4272.robotlib;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.SpeedController;
//import edu.wpi.first.wpilibj.PIDController;
/**
* An enhanced variant of {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController}
* (implements a PID Control Loop).
* <p>
* It is enhanced from
* {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController}
* in that it that also:
* <ul>
* <li> implements SpeedController (and therefore PIDOutput)
* <li> disables self if the setpoint is NaN (see {@link PIDNanny}).
* </ul>
*/
public class PIDController extends edu.wpi.first.wpilibj.PIDController implements SpeedController {
private boolean NaNDisabled = false;
private boolean inverted = false;
public final PIDSource source;
public final PIDOutput output;
/**
* Allocate a PID object with the given constants for P, I, D, and F
*$
* @param Kp the proportional coefficient
* @param Ki the integral coefficient
* @param Kd the derivative coefficient
* @param Kf the feed forward term
* @param source The PIDSource object that is used to get values
* @param output The PIDOutput object that is set to the output percentage
* @param period the loop time for doing calculations. This particularly
* effects calculations of the integral and differential terms. The
* default is 50ms.
*/
public PIDController(double Kp, double Ki, double Kd, double Kf,
PIDSource source, PIDOutput output,
double period) {
super(Kp, Ki, Kd, Kf, source, output, period);
this.source = source;
this.output = output;
}
/* Convenience constructors *******************************************/
/* `Kf`, and `period` are optional */
/**
* Convenience constructor with {@code Kf} defaulting to
* {@code 0.0}.
*
* @param Kp the proportional coefficient
* @param Ki the integral coefficient
* @param Kd the derivative coefficient
* @param source The PIDSource object that is used to get values
* @param output The PIDOutput object that is set to the output percentage
* @param period the loop time for doing calculations. This particularly
* effects calculations of the integral and differential terms. The
* default is 50ms.
*/
public PIDController(double Kp, double Ki, double Kd,
PIDSource source, PIDOutput output,
double period) {
this(Kp, Ki, Kd, 0.0, source, output, period);
}
/**
* Convenience constructor with {@code period} defaulting to
* {@link #kDefaultPeriod}.
*
* @param Kp the proportional coefficient
* @param Ki the integral coefficient
* @param Kd the derivative coefficient
* @param Kf the feed forward term
* @param source The PIDSource object that is used to get values
* @param output The PIDOutput object that is set to the output percentage
*/
public PIDController(double Kp, double Ki, double Kd, double Kf,
PIDSource source, PIDOutput output) {
this(Kp, Ki, Kd, Kf, source, output, kDefaultPeriod);
}
/**
* Convenience constructor with {@code Kf} defaulting to
* {@code 0.0}, and {@code period} defaulting to
* {@link #kDefaultPeriod}.
*
* @param Kp the proportional coefficient
* @param Ki the integral coefficient
* @param Kd the derivative coefficient
* @param source The PIDSource object that is used to get values
* @param output The PIDOutput object that is set to the output percentage
*/
public PIDController(double Kp, double Ki, double Kd,
PIDSource source, PIDOutput output) {
this(Kp, Ki, Kd, 0.0, source, output, kDefaultPeriod);
}
/* Override to auto-disable if setpoint is NaN, and invert ************/
/**
* {@inheritDoc}
*/
@Override
public synchronized void setSetpoint(double setpoint) {
if (Double.isNaN(setpoint)) {
NaNDisabled = true;
super.disable();
} else {
if (NaNDisabled && !isEnabled()) {
enable();
}
super.setSetpoint((inverted ? -1 : 1) * setpoint);
}
}
/**
* {@inheritDoc}
*/
@Override
public synchronized void enable() {
NaNDisabled = false;
super.enable();
}
/**
* {@inheritDoc}
*/
@Override
public synchronized void disable() {
NaNDisabled = false;
super.disable();
}
/* Implement PIDOutput (a parent of SpeedController) *******************/
/**
* {@inheritDoc}
*/
@Override
public void pidWrite(double output) {
setSetpoint(output);
}
/* Implement SpeedController *******************************************/
/**
* {@inheritDoc}
*/
@Override
public void set(double output) {
setSetpoint(output);
}
/**
* Don't use this.
* @deprecated Don't use this; it is leaking up from
* {@link edu.wpi.first.wpilibj.CANJaguar} through
* {@link edu.wpi.first.wpilibj.SpeedController}
*/
@Override
public void set(double output, byte syncGroup) {
set(output);
}
/**
* {@inheritDoc}
*/
@Override
public void setInverted(boolean isInverted) {
inverted = isInverted;
}
/**
* {@inheritDoc}
*/
@Override
public boolean getInverted() {
return inverted;
}
}
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